Robotic Approach Research Articles

An effective path planning approach for robot welding considering redundant kinematics

Robot welding with redundant kinematics demands precise coordination of the welding path and redundant axis motion for stable operation. This paper introduces an effective G3 continuous path planning approach for a 6-DOF friction stir welding robot, integrating redundant axis motion to enhance welding stability and quality. The method encompasses a two-pronged strategy: a five-axis path corner smoothing technique and a motion synchronization strategy. Initially, a robust toolpath preprocessing algorithm is presented to mitigate curvature extremities of the inserted smoothing curves within predefined error limits. Subsequently, leveraging G3 continuity criteria, a B-spline-based smoothing method is advanced for refining tool position and orientation paths, with an analytical determination of spline control points facilitated by an explicit smoothing error expression. An effective motion synchronization technique is then proposed, which formulates the tool position, tool orientation, and redundant axis path as explicit functions of the position path arc length. The effectiveness of the proposed method is demonstrated through simulations and experiments on a robot welding platform, with the integration of a jerk-continuous feedrate profile for smooth motion execution. The findings indicate a significant improvement in robotic welding quality by integrating the proposed path planning method with existing workpiece posture optimization techniques.

Combined open-robotic 'sandwich' repair for flank hernias: a case series of 10 patients.

Flank hernias represent a rare and technically challenging conundrum for abdominal wall surgeons. Various operative techniques have been attempted including open, laparoscopic, and robotic without an established gold standard. We present a novel technique utilizing a hybrid open-robotic "sandwich" technique for flank hernia repairs. Single center, retrospective case series of a single surgeon performing consecutive flank hernia patients via novel technique between 2017 and 2023. Demographic information, clinical hernia characteristics, operative technique, peri-operative complications, and long-term outcomes were collected. Ten patients underwent repair. Average age at repair was 67.6 (SD: 13.4), 70% males, mean BMI 29.6 (SD: 3.11), all ASA 3, and no current smokers. Average hernia defect measured 11.5cm (SD: 8.3) vertically and 8.1cm (SD: 3.7) horizontally. Mean operative time was 259.6min (SD: 85.1), estimated blood loss 30.5cc, and length of stay 1.6days (SD 1.6). There were no intra-operative complications. 30-day morbidity included one (10%) patient developing an ileus and one (10%) patient had a hematoma. At a mean follow up of 34months there was no chronic pain or hernia recurrences. This study outlines a novel approach to complex flank hernia repairs utilizing a combination of an open and robotic approach. There were no long-term surgery related complications, chronic pain, or recurrences in our cohort with a minimum follow up of 6months and mean of 34months. Further studies need to be completed in prospective fashion to elucidate the goal standard repair for flank hernias.

Single-dock Robotic Bilateral Transversus Abdominis Release: Technique Description and Preliminary Outcomes.

Posterior component separation with transversus abdominis release (TAR) is a valuable adjunct to address incisional hernia defects. Currently, bilateral docking is a standard technique for robotic TAR. The aim of this study is to describe our technique for extended totally extraperitoneal (eTEP) repair with bilateral TAR through a bottom single-dock robotic approach for hernias at the level of the umbilicus or higher. We retrospectively reviewed a case series of patients who underwent robotic eTEP repair with bilateral TAR using a single bottom docking between November 2021 and November 2023. A comprehensive description of our patient selection, surgical technique, and short-term clinical outcomes is reported. Ten patients with incisional hernias were included. Their median age was 55 years (IQR: 49.5 to 61.25), 70% were male, the median BMI was 27.25kg/m (IQR: 22.95 to 33.53), and ASA class was ≥2 in 80%. Median hernia width was 10cm (IQR: 6.75 to 12.25) and length 11cm (IQR: 9.25 to 16.25). The median operative time was 178.5 minutes (IQR: 153.75 to 222), and the length of stay was 1 day (IQR: 0.75 to 1.75). At a median follow-up of 5 months (IQR: 2.6 to 9.7), 20% of patients developed a surgical site occurrence requiring procedural intervention. Bilateral TAR using a single bottom dock is a feasible and safe adjunct to robotic eTEP ventral hernia repair in appropriately selected patients.

The state of robotic surgery in Spain: Results of a national survey on robotic surgery.

To assess the present state of robotic surgery and the surgical approaches employed by urology departments utilizing robotic systems in Spain. An email invitation was sent to heads of urology departments in public and private hospitals with surgical robots. A 78-question online questionnaire was distributed, and data were collected over 3 months. Of 82 invitations, 57.31% responded, mostly male (95.7%) urologists over 50 years old, with 77.8% having more than 20 years of practice. About 45.7% worked in both public and private settings. Most units use robots 1-3 days per week, with 56.1% of these units having 1-3 surgeons trained. 92.3% of respondents had laparoscopic experience, and 71.1% received robotic surgery training from the robot company. Radical prostatectomy, pyeloplasty, and cystectomy are mainly performed robotically, while other surgeries vary in approach. Robotic surgery has been firmly established in Spain, although the percentage of surgeries in robotic units remains low. Radical prostatectomy, pyeloplasty, and radical cystectomy with diversion are the most commonly performed techniques using robotic approaches.

A Near-Infrared Imaging System for Robotic Venous Blood Collection.

Venous blood collection is a widely used medical diagnostic technique, and with rapid advancements in robotics, robotic venous blood collection has the potential to replace traditional manual methods. The success of this robotic approach is heavily dependent on the quality of vein imaging. In this paper, we develop a vein imaging device based on the simulation analysis of vein imaging parameters and propose a U-Net+ResNet18 neural network for vein image segmentation. The U-Net+ResNet18 neural network integrates the residual blocks from ResNet18 into the encoder of the U-Net to form a new neural network. ResNet18 is pre-trained using the Bootstrap Your Own Latent (BYOL) framework, and its encoder parameters are transferred to the U-Net+ResNet18 neural network, enhancing the segmentation performance of vein images with limited labelled data. Furthermore, we optimize the AD-Census stereo matching algorithm by developing a variable-weight version, which improves its adaptability to image variations across different regions. Results show that, compared to U-Net, the BYOL+U-Net+ResNet18 method achieves an 8.31% reduction in Binary Cross-Entropy (BCE), a 5.50% reduction in Hausdorff Distance (HD), a 15.95% increase in Intersection over Union (IoU), and a 9.20% increase in the Dice coefficient (Dice), indicating improved image segmentation quality. The average error of the optimized AD-Census stereo matching algorithm is reduced by 25.69%, and the improvement of the image stereo matching performance is more obvious. Future research will explore the application of the vein imaging system in robotic venous blood collection to facilitate real-time puncture guidance.

VS 08 - HPB Laparoscopic cholecystectomy for left-sided gallbladder – How not to do it?

Abstract Background Left-sided gallbladder (LSG) is a rare congenital anomaly in the gallbladder, which is defined as a gallbladder located on the left side of the falciform ligament and round ligament without situs inversus. (1) The reported prevalence of sinistroposition ranges from 0.2% to 1.1%. (2) There are three recognized variants of LSG: LSG associated with situs viscerum inversus, true LSG, and gallbladder located to the left of abnormally located right-sided round ligament/ ligamentum teres. Method We present a case of a gentleman who was diagnosed as having gall bladder sinistroposition intraoperatively, after all the laparoscopic ports had been placed as per a routine laparoscopic cholecystectomy. Although the gentleman had undergone preoperative MRCP, it was not reported by the radiologists as such. The surgery was carried out using the usual ports used for standard four-port laparoscopic cholecystectomy and demonstrates the difficulty faced by the surgeon with these ports. Results Critical view of safety was demonstrated. Gall bladder was removed in piece meal. Surgery lasted for more than 90 minutes. There were no post-operative complications. Suggested modifications include Right working port from the Palmers point(3) or using a robotic approach with the same standard configuration(4). Our reflection revealed – interchanging of 5 mm and 12 mm working ports could have been helpful for better access. Conclusion The presence of a left sided gall bladder is often associated with various biliary, portal venous and other anomalies that might lead to intra-operative injuries. (5) The diagnosis is usually incidental and is done intraoperatively. Hence surgeons must be aware of these possibilities.

OGC SO44 - Robotic gastric resection is feasible and safe - the first 25 cases at a tertiary UK Oesophago-gastric unit

Abstract Background Robotic approaches to upper GI surgery are being increasingly used due to purported benefits including improved vision and dexterity over conventional laparoscopy, and reduction in surgical trauma and wound-related morbidity over open surgery. Introduction of new technology and its implementation into practice comes with an inevitable learning curve and it is paramount that this does not occur at the expense of patient outcomes. This study looked at the surgical and oncological outcomes from the implementation of a robotic gastric resectional service at a tertiary centre in the UK. Method A prospectively maintained database was used to identify all patients undergoing robotic subtotal and total gastrectomy irrespective of indication. Patients having sleeve gastrectomy or gastric wedge resection were not included. Demographic, operative, pathological and complications data were included. Complications were graded using the Clavien-Dindo classification. Textbook outcomes for gastric cancer surgery were defined as complete resection, pathological R0, >15 lymph nodes resected, no intraoperative complications, no reintervention, no ICU readmission, no prolonged hospital stay (defined as > 21 days), no mortality or readmission at 30 days, and no severe complications (Clavien Dindo ≥ II). Results Twenty-five patients were identified, 13 (52%) were women and the median age was 73 (range: 40 – 88). Twenty-two (92%) had a subtotal gastrectomy and adenocarcinoma was the diagnosis in 15 (62.5%). Median blood loss was 50ml (50 – 310 ml) and operative time 320 minutes (225 – 480 minutes). There were no conversions to open. Complications occurred in 6 (24%) with one leak, 2 theatre returns, one death and no readmissions. Median stay was 6 days (4-14 days). Of the 16 having cancer surgery, median nodal yield was 29.5 (16 – 66), R0 rate 100% and a textbook outcome achieved in 14 (87.5%). Conclusion Robotically-assisted gastric resection can be implemented with a low rate of complication. In those patients having surgery for cancer, pathological outcomes were good and 14/16 patients achieved a textbook outcome which is significantly higher than most published studies.

Path Planning Approaches in Multi‐robot System: A Review

ABSTRACTThe essential factor in developing multi‐robot systems is the generation of an optimal path for task completion by multiple robots. To ensure effective path planning, this paper studies the recent publications and provides a detailed review of the path planning approaches to avoid collisions in uncertain environments. In this article, path‐planning approaches for multiple robots are categorized primarily into classical, heuristic, and artificial intelligence‐based methods. Among the heuristic approaches, bio‐inspired approaches are mostly employed to optimize the classical approaches to enhance their adaptability. The articles are analyzed based on static and dynamic scenarios, real‐time experiments, and simulations involving hybrid solutions. The increasing focus on using hybrid approaches in dynamic environments is found mostly in the papers employing heuristic and AI‐based approaches. In real‐time applications, AI‐based approaches are highly implemented in comparison to heuristic and classical approaches. Moreover, the findings from this review, highlighting the strengths and drawbacks of each algorithm, can help researchers select the appropriate approach to overcome the limitations in designing efficient multi‐robot systems.

Robotic surgery versus laparoscopic surgery for rectal cancer: a comparative study on surgical safety and functional outcomes.

This study aims to evaluate the clinical efficacy and functional outcomes of DA Vinci (Xi)-assisted surgery compared to conventional laparoscopic surgery for middle and low rectal cancer, focusing on oncologic cure and functional preservation. Between December 2020 and June 2021, 102 patients with middle and low rectal cancer (tumour lower margin ≤10 cm) were enrolled at the affiliated Hospital of Xuzhou Medical University. Participants were divided into two groups: robot-assisted (n = 51) and laparoscopy-assisted (n = 51). Each group underwent a radical resection using their assigned method. Clinical and functional outcomes were analysed post-surgery. Preoperative data did not differ significantly between groups (P > 0.05). All surgeries were successfully completed without conversion to open surgery. The robotic group experienced significantly less intraoperative blood loss (55.2 ± 29.8 mL vs. 109.5 ± 58.5 mL) and faster recovery in gastrointestinal function (35.1 ± 9.4 h vs. 40.7 ± 1.9 h), diet recovery (2.1 ± 0.8 days vs. 2.9 ± 0.4 days), and catheter removal (2.9 ± 2.7 days vs. 5.3 ± 2.1 days). The robotic group also dissected more lymph nodes (23 ± 6 vs. 15 ± 4). However, they had longer operative times (239.8 ± 29.6 min vs. 141.1 ± 18.5 min) and higher hospital costs. Satisfaction levels regarding defecation, voiding, and sexual functions were notably higher in the robotic group. No significant differences in surgical safety or immediate postoperative outcomes were observed between robotic and laparoscopic approaches. However, robotic surgery demonstrated superior lymph node dissection, anal function preservation, and gastrointestinal recovery, enhancing overall functional outcomes.

The Role of Robotic Cystectomy in the Salvage and Palliative Setting: A Retrospective, Single-Center, Cohort Study.

Introduction: This article compares surgical and survival outcomes of robot-assisted and open radical cystectomy with cutaneous ureterostomy for the treatment of frail bladder cancer patients with limited life expectancy. Methods: The institutional database was searched for cystectomy cases with cutaneous ureterostomy, from 1 June 2016 to 31 August 2022. The study population was split into two groups, according to the surgical approach. The baseline characteristics and surgical outcomes were compared. Logistic regression analyses identified predictors of major bleeding events (hemoglobin loss ≥ 3.5 g/dL or blood transfusion) and re-operation within 30 days from surgery. The Kaplan-Meier method estimated the impact of the robotic approach on overall survival and Cox regression analysis assessed its predictors. Results: A total of 145 patients were included: 30% (n = 43) underwent robotic cystectomy. Patients' characteristics and tumor stages distribution were comparable in the two groups but those receiving a minimally invasive treatment showed significantly reduced times to flatus, bowel and hospital discharge (all p < 0.001). Although operation times were longer in this cohort, major bleeding events (60% vs. 89%) and postoperative severe complications (0 vs. 8%) (both p < 0.001) were less frequent compared to the open approach. A logistic regression showed that robotic surgery independently predicted major bleeding events (OR: 0.26; 95%CI 0.09-0.72; p = 0.02) but not the need for re-intervention. A Kaplan-Meier analysis showed that robotic cystectomy was associated with a significant advantage in terms of overall survival (LogRank = 0.03), and this result was confirmed by Cox regression analysis (HR: 0.39; 95%CI 0.14-0.94; p = 0.04). Conclusions: Robotic cystectomy with cutaneous ureterostomy may represent a viable option to treat frail bladder cancer patients, as the minimally invasive approach reduces the risk of bleeding and serious complications and provides a prompt restoration of bowel function and a shorter hospital stay compared to open surgery.

Fault Diagnosis in a Four-Arm Delta Robot Based on Wavelet Scattering Networks and Artificial Intelligence Techniques

This paper presents a comprehensive fault diagnosis approach for a delta robot utilizing advanced feature extraction and classification techniques. A four-arm delta robot prototype is designed in SolidWorks for realistic fault analysis. Two case studies investigate faults through control effort and vibration signals, with control effort detecting motor and encoder faults, while vibration signals identify bearing faults. This study compares time-domain signal features and wavelet scattering networks, applied by classification algorithms including wide neural networks (WNNs), efficient linear support vector machine (ELSVM), efficient logistic regression (ELR), and kernel naive Bayes (KNB). Results indicate that a WNN, using wavelet scattering features ranked by one-way anova, is optimal due to its consistency and reliability, while these features enhance computational efficiency by reducing classifier size. Sensitivity analysis demonstrates the classifier’s capacity to detect untrained faults, highlighting the importance of effective feature extraction and classification methods for fault diagnosis in complex robotic systems. This research significantly contributes to fault diagnosis in delta robots and lays the groundwork for future studies on fault tolerance control and predictive maintenance planning. Future work will focus on the physical implementation of the delta robot in laboratory settings, aiming to improve operational efficiency and reliability in industrial applications.

A novel mapping method for equivalent stiffness and equivalent damping of [formula omitted]-DOF series hydraulic robot

Impedance control is a commonly used approach for robots to interact with environments. At present, the impedance control is mostly implemented at the foot end, while the impedance control at the joint space offers faster response speed and is a more favorable option. However, due to the influence of installation position and moment arm of hydraulic drive unit (HDU), it is more complicated to establish the mapping relationship of equivalent stiffness and equivalent damping between the foot end and joint HDU. To address this challenge, this paper provides a general calculation expression of mapping matrices between the foot end and joint HDU, which also considers the influence of above nonlinear factors. Additionally, the accuracy of mapping matrices is verified through the impedance control, and the “finite difference method” (FDM) is used to enhance the accuracy of validation. Finally, the accuracy of mapping matrices is validated through the single leg of a 2-DOF series hydraulic robot.

Robotic versus laparoscopic revision to Toupet fundoplication for failed Nissen fundoplication: a single-center experience.

Nissen fundoplication (NF) is a common surgical procedure to treat gastroesophageal reflux disease; however, a subset of patients may continue to experience symptoms or develop symptom recurrence despite a successful procedure. This study aims to compare laparoscopic and robotic approaches for treating failed NF and evaluate the outcomes after converting to Toupet fundoplication (TF). We conducted a retrospective analysis of patients who underwent robotic or laparoscopic revision to TF for failed NF between 2016 and 2023. The data collected included demographics, pre-operative workup, and peri- and post-operative outcomes. Symptom analysis and anti-reflux medication usage were collected using a patient questionnaire. Failed fundoplication was defined as the need for an additional operation due to unresolved GERD symptoms or the emergence of a new issue. Eighty-eight patients (56 laparoscopic, 32 robotic) were included. Mean operative time was 148.71 ± 53.64min for the total cohort and was significantly longer in the robotic group (RG) 167.43min vs 138.01min in the Laparoscopic group (LG) (p value = 0.012). The LG had a length of hospital stay of 2.16 ± 1.69days vs RG 2.21 ± 1.28days (p value = 0.867). The LG had a higher number of early readmissions (5.4%, p value = 0.629) and both the LG and the RG had 1 patient that required an early reintervention. Symptoms of dysphagia and reflux decreased in both groups at last follow-up, but the reduction in PPI use was not significant. Surgical revision to TF for failed NF provides significant symptom improvement with low rates of complications and recurrences. Our study shows that both approaches are safe and feasible and have comparable surgical and symptom outcomes.

An Educational Robotics Approach to Drawing and Studying Central Trochoids at the University Level

An Educational Robotics Approach to Drawing and Studying Central Trochoids at the University Level

Somatosensory integration in robot-assisted motor restoration post-stroke.

Disruption of somatosensorimotor integration (SMI) after stroke is a significant obstacle to achieving precise motor restoration. Integrating somatosensory input into motor relearning to reconstruct SMI is critical during stroke rehabilitation. However, current robotic approaches focus primarily on precise control of repetitive movements and rarely effectively engage and modulate somatosensory responses, which impedes motor rehabilitation that relies on SMI. This article discusses how to effectively regulate somatosensory feedback from target muscles through peripheral and central neuromodulatory stimulations based on quantitatively measured somatosensory responses in real time during robot-assisted rehabilitation after stroke. Further development of standardized recording protocols and diagnostic databases of quantitative neuroimaging features in response to post-stroke somatosensory stimulations for real-time precise detection, and optimized combinations of peripheral somatosensory stimulations with robot assistance and central nervous neuromodulation are needed to enhance the recruitment of targeted ascending neuromuscular pathways in robot-assisted training, aiming to achieve precise muscle control and integrated somatosensorimotor functions, thereby improving long-term neurorehabilitation after stroke.

A Hybrid BFO/PSO Navigation Approach for an Autonomous Mobile Robot

A Hybrid BFO/PSO Navigation Approach for an Autonomous Mobile Robot

Automation in Agriculture: A Robotic Approach to Weed Control for Greenhouse Cucumber Cultivation

The increasing global population has heightened the demand for efficient food production, leading to the adoption of compact cultivation methods such as greenhouses. However, weed growth within these controlled environments significantly challenges crop productivity. The application of robots can be a useful and economic choice. This study presents an innovative, purely mechanical system for weed control in greenhouses, specifically designed to operate autonomously on a monorail. The machine stops in the distance between the two main plant rows (cucumber) and its arm goes into the gap to deploy the weeds by rotating its blades. This is continued repeatedly. The cutting is by the rotational speed of the blade. Variable-speed motions of the blade were at 3500, 2500 and 1500 rpm for 3 types of moulinex, triangular, and circular blades. The movement speed of the arm was 10 and 30 rpm and the forward movement speed of the machine was 30, 40, 50, 60, 80 and 120 rpm. The results showed that different blades, blade speeds and engine speed affect significantly (p &lt;0.05) the percentage of weeds being cut. Although the interactions of these factors have no significant effect on percentage; the average percentages by the blades have significant differences. Although the interactions between these factors were not statistically significant, the comparison of means revealed that at lower blade speeds, the blade type had a pronounced effect on weed-cutting efficiency. As blade speed increased, differences in blade performance diminished. The most effective combination was achieved using Moulinex blades at 3500 rpm with a 10-rpm arm speed, resulting in the highest percentage of weeds cut. These findings suggest that optimizing blade type and speed can significantly enhance the mechanical weed control efficiency in greenhouse environments.

3D augmented reality-guided robotic partial nephrectomy

The present study aims to provide a contemporary overview of the use of augmented reality (AR) in robotic renal surgery from the renal pedicle management to the demolition and reconstructive phases thanks also to the preoperative planning obtained with three-dimensional virtual models (3DVMs). Recently, the increasing use of the robotic approach extends the indication to partial nephrectomy also in cases of complex or large renal masses and maximizing functional and surgical outcomes. With this goal, new imaging technologies have increased in popularity, especially for laparoscopic and robotic approaches. In this scenario, hyper-accuracy 3DVMs of the kidney and tumor, based on computed tomography (CT) scans, have been developed as a new tool for preoperative planning and intraoperative surgical navigation via AR technology. However, a standardized production process of 3DVMs and dedicated guidelines on their use and application are still needed. A recent systematic review and metanalysis has shed light on the impact of 3D models on minimally-invasive nephron-sparing surgery (NSS). Specifically, lower rates of global ischemia and collecting system violation were observed within AR-robot-assisted partial nephrectomy (RAPN). However, these rates did not translate into significant improvements in terms of oncological or functional outcomes. This review provides a contemporary overview of the use of AR in robotic renal surgery from the renal pedicle management to the demolition and reconstructive phases thanks also to the preoperative planning obtained with 3DVMs.

Clinical Outcomes and Costs of Robotic-assisted versus Conventional Mitral Valve Repair: A National Analysis

Robotic approaches have been increasingly utilized for cardiothoracic operations, though concerns regarding costs remain. We evaluated short-term outcomes and costs of robotic-assisted and conventional mitral valve repair (MV-repair), hypothesizing that cost differences would be mitigated at high-volume programs. Adults undergoing elective MV-repair from 2016 to 2020 were identified in the Nationwide Readmissions Database. Patients with rheumatic heart disease, mitral stenosis, and those undergoing concomitant operations were excluded. Generalized linear models were utilized to evaluate the association between approach and in-hospital mortality, complications, length of stay, costs, and 90-day readmissions. Annual institutional MV-repair volume was modeled using restricted cubic splines, and cost differences subsequently evaluated by volume tertile. Of 40,738 patients, 9.8% underwent robotic-assisted MV-repair. Risk-adjusted outcomes including mortality, stroke, reoperation, respiratory complications, postoperative infection, and readmission were comparable between the two groups, while those undergoing robotic-assisted MV-repair had lower rates of non-home discharge. The median cost of robotic-assisted MV-repair was greater than conventional surgery ($46,800 vs $38,500, p<0.001). Despite a 1.3-day decrement (95% CI 1.1-1.6) in length of stay, robotic-assisted MV-repair was associated with greater risk-adjusted costs by $10,500 (95% CI 5,800-15,200). Programs in the highest volume tertile exhibited comparable costs for robotic-assisted and conventional MV-repair (cost difference $5,900, 95% CI -1,200-12,200, p>0.05). Robotic-assisted MV-repair had comparable short-term outcomes relative to conventional surgery. Despite increased costs of robotic-assisted MV-repair overall, high-volume programs had similar risk-adjusted costs by approach. These findings support the designation and performance of robotic MV-repair at centers of excellence in the United States.

Management of Vesico-Vaginal Fistula by Robotic Approach

Management of Vesico-Vaginal Fistula by Robotic Approach